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mc attitude control: Log sensor time stamp in actuator output

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Lorenz Meier
2015-01-08 12:59:20 +01:00
parent 05367f8a00
commit 7d56ae4ed6
1 changed files with 1 additions and 0 deletions
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1
src/modules/mc_att_control/mc_att_control_main.cpp
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@@ -888,6 +888,7 @@ MulticopterAttitudeControl::task_main()
_actuators.control[2] = (isfinite(_att_control(2))) ? _att_control(2) : 0.0f;
_actuators.control[3] = (isfinite(_thrust_sp)) ? _thrust_sp : 0.0f;
_actuators.timestamp = hrt_absolute_time();
_actuators.timestamp_sample = _v_att.timestamp;
if (!_actuators_0_circuit_breaker_enabled) {
if (_actuators_0_pub > 0) {